Colony

#ifdef USE_STDIO

#include <stdio.h>

/**

 * For use with fprintf() and related stdio functions

 **/

FILE *xbee_fd;

#endif

uint8_t xbee_initd=0;

/**

 * Initializes communication over the XBee.

 * This must be called before any other xbee function

 * may be used.

 **/

int xbee_init() {

  if(xbee_initd) {

    return ERROR_INIT_ALREADY_INITD;

  }

  //Set baud rate

  // - 115200 (both wired and wireless) is UBRR=8, U2X=1

  // - 9600 is U2X =1, UBRR = 107.

#if (XBEE_BAUD == 115200)

  UBRR1H = 0x00;

  UBRR1L = 8;

  UCSR1A |= _BV(U2X1);

#elif (XBEE_BAUD == 9600)

  UBRR1H = 0x00;

  UBRR1L = 103;

  UCSR1A |= _BV(U2X1);

#else //Baud rate is defined in the header file, we should not get here

  return 0;

#endif

  //Enable receiver and transmitter

  UCSR1B |= (1<<RXEN1)|(1<<TXEN1);

  // Set frame format: 8data, 1stop bit, asynchronous normal mode

  UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11);

  // if we have enabled the stdio stuff, then we init it here

#ifdef USE_STDIO

  /* Open the stdio stream corresponding to this port */

  xbee_fd = fdevopen(xbee_putc, xbee_getc);

#endif

  xbee_initd = 1;

  return 0;

}

/**@brief The port to use the XBee from on the computer. **/

#ifndef ROBOT

#define XBEE_PORT_DEFAULT "/dev/ttyUSB1"

#endif

/**@brief Set the com port on a computer, undefined on the robot**/

void xbee_set_com_port(char* port);